THREE-DIMENSIONAL IMPACT OF A RIGID ELLIPSOID ON FIXED SURFACE WITH FRICTION
刚性椭球对固定面的三维摩擦碰撞

The three dimensional impact of a rigid ellipsoid on a fixed surface with friction is discussed in this paper. The differential equations of tangential velocity of contact point in the duration of impact are formulated with the normal impulse as argument. A qualitative analysis on the global behavior of tangential sliding motion is given by use of the singularity theory of phase plane. The analytical solution determining the sliding motion is also obtained.